Dear All,
Any idea how to activate and use mirror function in Kawasaki .
I have same piece on right and left of robot and I want to use the same program on both sides.
Regards,
Dear All,
Any idea how to activate and use mirror function in Kawasaki .
I have same piece on right and left of robot and I want to use the same program on both sides.
Regards,
MIRROR IMAGE is a paid option in Kawa.
If your controller has this option enabled, you should find it in AUXILIARY FUNCTIONS 01-Program Conversion / 02-Mirror Image (0102).
If you do get it enabled:
- Can only be used to convert BLOCK programs using the YZ Plane.
- It does not copy the program, or copy the locations, it recalculates them, therefore the original locations are overwritten.
- Copy the program first before you execute it, if you wish to retain the original program/locations.
- Make sure your external peripherals allow for mirror symmetry to avoid collisions.
- Always check results after, possible close to singularity postures may not be correct.
thank you guys for your quick reply.
is there any manual about this function ?
There is information in the Operations Manual.
- Explanation of function.
- Some screenshots of the Aux Function.
- Bullet point specifying applicable for BLOCK programming only.
Does exactly what it says in terms of mirroring in simulation and on a live robot, I remember back in the day trying it out by picking an object up off a conveyor.
Took some measurements, placed the object using the exact measured values in relation to the YZ plane and worked a treat.
Hello guys ,
two questions please :
1- is "MIRROR" function which is accessible from the teach-pendant can be used as AS command in a program ?
if yes ; how to call it in AS program ?
2- Second question ; "JOINT SHIFT" in Aux. Functions in Teach-pendant ; what is the equivalent command for it in AS language ?
Bshift , Tshift , Tool Adjust ; all are equivalent commands in AS language to available functions in "Program Conversion" Aux. menu except "JOINT SHIFT" not found in the manual .
Thanks in advance .
1. The mirror function is for BLOCK programming only.
- It appears to be an internal macro that effectively 'polls' through each joint angle to re-calculate the 'symmetrical YZ plane' results.
- The program remains the same, but you will notice the joint angles will have been re-calculated.
- See attached note from the Operational Manual.
2. There is no single JOINT SHIFT instruction in AS from what I know (but AS is an extensive Programming language, there could well be).
- However what you do have is a selection of commands available to accomplish this:
DECOMPOSE jt[1] = #test_position; Obtain all joint angles, as real values and store them as array elements.
POINT #new_position = #PPOINT(jt[1]+10,jt[2],jt[3],jt[4],jt[5],jt[6]); Use the array elements, create new posture and include a change - 10 degs added to Jt[1].
JMOVE #PPOINT (jt[1],jt[2],jt[3],jt[4],jt[5],jt[6]); Basic AS Motion using real values of the array elements (therefore these reals could be changed before use).